Robot Operating System (ROS) controlled anthropomorphic robot hand

Krawczyk, Marcin, Gandhi, Vaibhav ORCID logoORCID: https://orcid.org/0000-0003-1121-7419 and Yang, Zhijun ORCID logoORCID: https://orcid.org/0000-0003-2615-4297 (2022) Robot Operating System (ROS) controlled anthropomorphic robot hand. Journal of Scientific and Industrial Research, 81 (9) . pp. 901-910. ISSN 0022-4456 [Article] (doi:10.56042/jsir.v81i09.45313)

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Abstract

This paper presents a new design of a dexterous robot hand by incorporating human hand factors. The robotic hand is a Robot Operating System (ROS) controlled standalone unit that can perform key tasks and work independently. Hardware such as actuators, electronics, sensors, pulleys etc. are embedded within or on the hand itself. Raspberry Pi, a single board computer which runs ROS and is used to control the hand movements as well as process the sensor signals is placed outside of the hand. It supports peripheral devices such as screen display, keyboard and mouse. The hand prototype is designed in Solid Works and 3D printed/built using aluminum sheet. The prototype is similar to the human hand in terms of shape and possesses key functionalities and abilities of the human hand, especially to imitate key movements of the human hand and be as dexterous as possible whilst keeping a low cost. Other important factors considered while prototyping the model were that the hand should be reliable, have a durable construction, and should be built using widely available off-the-shelf components and an open-source software. Though the prototype hand only has 6 degrees-of-freedom (DOF) compared to the 22 DOF of the human hand, it is able to perform most grasps effectively. The proposed model will allow other researchers to build similar robotic hands and perform specialized research.

Item Type: Article
Sustainable Development Goals:
Theme:
Keywords (uncontrolled): Grasp, Mechanical design, Robotic hand, Robot operating system, Solid Works
Research Areas: A. > School of Science and Technology > Design Engineering and Mathematics
Item ID: 36049
Notes on copyright: Authors who publish with JSIR agree that once published copyright of the article will be transferred to the publisher, with the work simultaneously licensed under a Creative Commons Attribution-BY-NC-ND 4.0 International License.. that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal. [http://op.niscair.res.in/index.php/JSIR/index]
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Depositing User: Vaibhav Gandhi
Date Deposited: 23 Sep 2022 11:24
Last Modified: 14 Oct 2022 04:44
URI: https://eprints.mdx.ac.uk/id/eprint/36049

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